JP2020169962A - Image inspection system - Google Patents

Abstract

To provide an image inspection system capable of facilitating implementation to easily output ledger sheets while preventing the settings from being restored by mistake when exchanging ledger sheets between an imaging apparatus conforming to the standard and a setting apparatus.SOLUTION: A setting apparatus is configured to output a ledger sheet that includes setting items each described according to the setting order based on the dependent relationship between the setting items and multiple categories, which are formed by classifying multiple setting items, and which have a dependent relationship where the validity or value of the other setting item changes depending on the setting of one setting item, according to their relevance.SELECTED DRAWING: Figure 28

Description

The present invention relates to an image inspection system that inspects an inspection object such as a work.

Conventionally, there has been known an image inspection system configured to measure the three-dimensional shape of an inspection object and determine the quality of the inspection object based on the measurement result. The image inspection system disclosed in Patent Document 1 obtains a normal vector of the surface of an inspection object from a plurality of luminance images having different illumination directions, and obtains a shape image showing the surface shape of the inspection object based on this normal vector. The so-called photometric stereo principle of generation is used, and the quality of the inspection object is judged by using the inspection image showing the shape generated based on the principle of photometric stereo. In Patent Document 1, after performing a pattern search on the inspection image to set the inspection area, the position of the inspection area is corrected, and then the presence or absence of scratches is inspected.

Such an image inspection system includes, for example, a control device including a personal computer and a camera connected to the control device. The control device controls the camera, and the control device acquires an image captured by the camera. It is generally configured to perform various image processing and determination processing. In order to perform appropriate imaging with a camera in such a system, it is necessary to change the setting values such as the exposure time and analog gain of the camera according to the situation and the inspection target, and the setting values of each of these setting items are controlled. It is possible to change from the device via the communication path. However, the correspondence between each setting item and the address of the register that holds the set value is usually different for each camera model and camera manufacturer. For example, let's change the camera to another model. If this is the case, it will take a lot of time and effort to modify the program of the image inspection application and reinstall the driver software.

Therefore, in recent years, the GenICam standard has been established as a standardization standard for the connection interface between the control device and the camera. Regarding the interface for controlling the camera from the image inspection application constructed by the control device and acquiring the image captured by the camera, GenICam ( Standardization is being carried out between cameras and applications that meet the (registered trademark) standard.

In addition, cameras that meet the standardization standards use forms in which the settings are written out in text format. Each setting item of the form is represented by a set of a setting name and a set value, and these are listed in a list format to form a form.

JP 2015-232481

By the way, by using an image inspection application compatible with the GenICam standard and a camera connection interface, there is an advantage that the degree of freedom in selecting a camera model is improved.

On the other hand, in the case of a connection interface between a camera that meets the standard and an image inspection application, the setting items are output from the camera side to the image inspection application side in text format and managed and saved on the image inspection application side. , It is necessary to be able to write back from the image inspection application side to the camera side as needed.

Here, when a camera satisfying the standardization standard is to be subjected to a plurality of processes such as capturing and synthesizing a plurality of luminance images having different illumination directions as in Patent Document 1, a plurality of setting items are used. It is conceivable that the order will be required and the structure of the form setting items will be complicated. If you try to exchange a form with a complicated structure of setting items between the camera and the image inspection application, it will be difficult to implement the form output processing itself, and there is a high possibility that the setting contents will be restored by mistake. Become.

The present invention has been made in view of the above points, and an object of the present invention is to enable easy form output when exchanging forms between an imaging device and a setting device conforming to a standardization standard. The purpose is to facilitate implementation and prevent accidental restoration of settings.

In order to achieve the above object, the first invention is connected to an image pickup device for an image inspection device that images an inspection object, the image pickup device, and the setting items of the image pickup device and each setting item. A file that describes the register information indicating the location where the setting value is stored is acquired from the outside, and the setting value of each setting item set by the user and the register information corresponding to each setting item included in the file are obtained. An image inspection system including a setting device that transmits data indicating the above to the imaging device and sets the imaging device. The setting device determines the effectiveness of the other setting item by setting one setting item. Alternatively, each of the above settings is made according to the setting order based on the dependency between a plurality of categories formed by classifying a plurality of setting items having a dependency relationship whose value changes according to the degree of relevance and between each setting item. It is characterized in that it is configured to output a form in which items are described.

According to this configuration, when both the image pickup device and the setting device connected via the network conform to a common standard, the setting items of the image pickup device and the setting values of each setting item are stored. The setting device acquires, for example, a file in which the register information indicating the location is described from the image pickup device. This file is, for example, a Device XML file when the standardization standard is the GenICam standard. This file may be acquired by the setting device from the imaging device, or may be downloaded from a website or the like and a file to be referred to GenApi may be specified as a separate file.

Since a plurality of setting items having a dependency relationship in which the validity or value of the other setting item changes depending on one setting item are classified into a plurality of categories according to the degree of relevance, the structure becomes easy to understand. Since each setting item is described in the form according to the setting order based on the dependency between multiple categories and each setting item, the form is easy and the setting contents are not easily restored by mistake. Become.

For example, to explain the setting of the frame rate of the image pickup device as an example, the category related to the frame rate setting includes a setting item "whether the frame rate can be set" and a setting item "frame rate setting value". Is included. The "frame rate setting value" is not valid unless "whether the frame rate can be set" is set to True. That is, the setting item "whether the frame rate can be set" corresponds to the one setting item, and the setting item "frame rate setting value" corresponds to the other setting item. If the setting item "frame rate setting value" is described before the setting item "whether the frame rate can be set", the "frame rate setting value" is tried to be set first, and at this time. If the setting item "whether the frame rate can be set" is not set yet, an error occurs and the frame rate cannot be set.

In this configuration, a form in which each setting item is described is output according to the setting order, so the setting item "whether the frame rate can be set" is described first, and after making this setting. , You will be able to set the frame rate setting value.

The second invention is characterized in that the setting order is an order to be set by the user.

According to this configuration, each setting item can be described in the order to be set by the user, so that the structure of the form becomes easier to understand.

In a third aspect of the invention, the imaging device or the setting device changes the validity or value of the other setting item so that the one setting item is described before the other setting item. It is characterized in that it is configured to output a form in which each category and each setting item are rearranged and described.

That is, by describing one setting item first, it becomes easy to understand the structure of the form in relation to the other setting item.

Further, the image pickup apparatus or the setting apparatus may perform the rearrangement of the respective categories and the respective setting items. That is, the imaging device can rearrange the order of the setting items in advance in order to facilitate the output of the form, and then provide the contents as a DeviceXML file to the setting device side. On the other hand, the setting device grasps the order of the setting items described in the DeviceXML file, and then repeatedly outputs the value of the same setting item to the form while switching the selector register at the place where the selector register appears. be able to. It is not necessary for the image pickup device to perform the sorting. For example, the image pickup device sends an unsorted DeviceXML file to the setting device, and the setting device that receives the file immediately sorts the files. After that, the form output may be continued with the selector register in mind.

In the fourth invention, the category and the setting item have a hierarchical dependency relationship, and the imaging device or the setting device outputs a form in which the hierarchical dependency relationship is rearranged layer by layer. It is characterized in that it is configured as follows.

According to this configuration, it is easy to understand the structure of the form by rearranging and describing the hierarchical dependencies layer by layer.

According to a fifth aspect of the present invention, the imaging device or the setting device is configured to rearrange the order of the lowest layer and then rearrange the order of the layers one layer higher than the lowest layer. It is characterized by.

According to this configuration, the process of rearranging the dependencies according to the setting order can be easily performed.

According to the present invention, a plurality of setting items having a dependency relationship are classified according to the degree of relevance to form a plurality of categories, and the dependency relationships between the plurality of categories and each setting item are followed according to the setting order. A form in which each setting item is described can be output. As a result, it is possible to easily output a form that is exchanged between an imaging device and a setting device conforming to a standard, facilitate implementation, and prevent accidental restoration of setting contents. can do.

It is a figure which shows typically the schematic structure and operation state of the image inspection system which concerns on Embodiment 1 of this invention. It is a figure corresponding to FIG. 1 which concerns on Embodiment 2. FIG. FIG. 1 is a view corresponding to FIG. 1 according to the third embodiment. FIG. 1 is a view corresponding to FIG. 1 according to the fourth embodiment. It is a flowchart which shows the procedure which generates the inspection image based on the principle of deflation metric. FIG. 1 is a view corresponding to FIG. 1 according to the fifth embodiment in which an inspection image is generated by using a photometric stereo method. It is a figure explaining the connection interface between an image inspection application and a camera. It is a flowchart which conceptually shows an example of the internal processing of an image pickup apparatus. It is a figure which shows the parameter set in the case of generating the inspection image using the principle of deflation metrics. It is a figure which shows the parameter set when the inspection image is generated by multi-spectral imaging. It is a figure which shows the structure of the preprocessing module. It is a figure explaining the procedure of specifying a certain unit in the flowchart of the internal processing of an image pickup apparatus. It is a figure which shows the user interface for setting. It is a schematic diagram which shows the case where the setting user interface is switched by the selection of a parameter set number. It is a figure explaining the internal mechanism that a parameter set is switched by the selection of a parameter set number. It is a figure which shows the processing example of the filter by a direction. It is a figure explaining the case which executes the filter by direction after position correction. It is a figure which shows the user interface for filter setting. It is a figure which showed the image which can execute the filter processing in a list format. It is a figure which shows the detailed user interface of a filtering process. It is a figure which shows the direction dependence of a filter. It is a flowchart which executes a filter for each direction after position correction. It is a flowchart which executes a direction-specific filter after position correction when a plurality of areas are set. It is a flowchart at the time of following a moving body. It is a figure which shows an example of the form which has a dependency relationship. It is a figure corresponding to FIG. 25 which shows the state which changed the order of the category and the register of the last section. FIG. 25 is a diagram corresponding to FIG. 25 showing a state in which the order of the categories and registers one level above is changed. It is a figure which shows the appearance order of the register before and after sorting, and the output form. It is a figure which shows an example of the appearance order of the register of LumiTrax mode. FIG. 29 is a diagram corresponding to FIG. 29 when the context of the registers is not in the setting order. FIG. 29 is a diagram corresponding to FIG. 29 when the registers are rearranged.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. It should be noted that the following description of the preferred embodiment is essentially merely an example and is not intended to limit the present invention, its application or its use.

(Embodiment 1)
FIG. 1 schematically shows an operating state of the image inspection system 1 according to the embodiment of the present invention. The image inspection system 1 is configured to inspect the presence or absence of defects in the work W by using an image of the work W (inspection object), and images the lighting device 2 that illuminates the work W and the work W. It is provided with an image pickup device 3 for an image inspection device, and a setting device 4 composed of a personal computer (PC) or the like for setting the image pickup device 3. The setting device 4 includes a display unit 5, a keyboard 6, and a mouse 7. The display unit 5 is composed of, for example, an organic EL display, a liquid crystal display, or the like, and includes an image captured by the image pickup device 3, a processed image obtained by processing the image captured by the image pickup device 3, and various user interfaces (GUI). ) Etc. can be displayed. Various user interfaces and the like are generated in the main body of the setting device 4. The horizontal direction of the display unit 5 can be the X direction of the display unit 5, and the vertical direction of the display unit 5 can be the Y direction of the display unit 5.

Further, the keyboard 6 and the mouse 7 are conventionally well-known devices (operating means) for operating a computer. By operating the keyboard 6 or the mouse 7, various information can be input to the setting device 4, and an image or the like displayed on the display unit 5 can be selected. In addition to the keyboard 6 and the mouse 7, or in addition to the keyboard 6 and the mouse 7, a computer operation device such as a voice input device and a pressure-sensitive touch operation panel can also be used.

For example, an external control device 8 including a programmable logic controller (PLC) or the like is connected to the setting device 4. The external control device 8 may form a part of the image inspection system 1. Further, the external control device 8 does not have to be a component of the image inspection system 1.

FIG. 1 shows a case where a plurality of works W are transported in the direction indicated by the white arrow in FIG. 1 in a state of being placed on the upper surface of the transport belt conveyor B. The external control device 8 is a device for sequence control of the transport belt conveyor B and the image inspection system 1, and a general-purpose PLC can be used.

In the description of this embodiment, the transport direction of the work W by the transport belt conveyor B (moving direction of the work W) is the Y direction, and the direction orthogonal to the Y direction in the plan view of the transport belt conveyor B is the X direction. The direction orthogonal to the X direction and the Y direction (the direction orthogonal to the upper surface of the conveyor belt B for transportation) is defined as the Z direction, but this is defined only for convenience of explanation.

The image inspection system 1 can be used for visual inspection of the work W, that is, for inspecting the presence or absence of defects such as scratches, stains, and dents on the surface of the work W, and the work W is based on the inspection results. It is also possible to make a pass / fail judgment. During its operation, the image inspection system 1 receives an inspection start trigger signal that defines the start timing of defect inspection (good / bad judgment inspection) from the external control device 8 via a signal line. The image inspection system 1 takes an image of the work W, illuminates, and the like based on the inspection start trigger signal, and obtains an inspection image after a predetermined process. After that, a visual inspection is performed based on the inspection image, and the inspection result is transmitted to the external control device 8 via the signal line. As described above, during the operation of the image inspection system 1, the inspection start trigger signal is repeatedly input and the inspection result is output between the image inspection system 1 and the external control device 8 via the signal line. As described above, the input of the inspection start trigger signal and the output of the inspection result may be performed via the signal line between the image inspection system 1 and the external control device 8, or other signals (not shown). It may be done via a line. For example, a sensor for detecting the arrival of the work W and the image inspection system 1 may be directly connected, and an inspection start trigger signal may be input from the sensor to the image inspection system 1. Further, the image inspection system 1 may be configured to automatically generate a trigger signal internally for inspection.

In addition to being configured with dedicated hardware, the image inspection system 1 may be configured by installing software on a general-purpose device, for example, installing an image inspection program on a general-purpose or dedicated computer. For example, the image inspection program may be installed on a dedicated computer in which hardware such as a graphic board is specialized for image inspection processing.

(Configuration of lighting device 2)
The lighting device 2 includes a light emitting unit 2a and a lighting control unit 2b that controls the light emitting unit 2a. The light emitting unit 2a and the lighting control unit 2b may be separate bodies or integrated. Further, the lighting control unit 2b may be incorporated in the setting device 4. The light emitting unit 2a can be composed of, for example, a light emitting diode, a projector using a liquid crystal panel, an organic EL panel, a digital micromirror device (DMD), or the like, and can also be called an illumination unit. Although the light emitting diode, the liquid crystal panel, the organic EL panel, and the DMD are not shown, those having a conventionally known structure can be used. The lighting device 2 is connected to the setting device 4 via a signal line 100a, and can be installed apart from the image pickup device 3 and the setting device 4.

The lighting device 2 of the first embodiment is configured to be capable of performing uniform surface light emission. Further, the illuminating device 2 is configured to be able to perform illumination capable of realizing deflation metric processing, and therefore has a light emitting unit 2a that irradiates the work W with patterned light having a periodic illuminance distribution. are doing. That is, the illumination device 2 can be a pattern light illumination unit that executes pattern light illumination that sequentially irradiates the work W with a plurality of different pattern lights. Hereinafter, the lighting device 2 used when generating an inspection image by performing the deflation metric processing will be described.

When a plurality of light emitting diodes are used, the plurality of light emitting diodes can be arranged in a dot matrix to generate patterned light having a periodic illuminance distribution by controlling the current value. For example, in the case of Y-direction pattern light whose brightness changes in the Y direction, it can be expressed as pattern light in which a striped pattern is repeated in the Y direction, and when this Y-direction pattern light is generated, the phase of the illuminance distribution is generated. By shifting the light in the Y direction, it is possible to generate a plurality of Y direction pattern lights having different phases of the illuminance distribution. The illuminance distribution of the Y-direction pattern light can also be represented by a waveform similar to the sine waveform. In this case, for example, the phase is changed by 90 °, and the Y-direction pattern light at 0 ° and the Y-direction at 90 °. It is possible to generate a pattern light, a Y-direction pattern light at 180 °, and a Y-direction pattern light at 270 °.

Further, in the case of the X-direction pattern light in which the brightness changes in the X-direction, it can be expressed as a pattern light in which the striped pattern is repeated in the X-direction, and when the X-direction pattern light is generated, the phase of the illuminance distribution is generated. By shifting the light in the X direction, it is possible to generate a plurality of X-direction pattern lights having different phases of the illuminance distribution. The illuminance distribution of the X-direction pattern light can also be represented by a waveform similar to the sine waveform. In this case, for example, the phase is changed by 90 °, and the X-direction pattern light in the case of 0 ° and the X-direction in the case of 90 °. It is possible to generate pattern light, X-direction pattern light at 180 °, and X-direction pattern light at 270 °. That is, the lighting device 2 can illuminate the work W in different lighting modes. When the deflect metering process is performed, the pattern light irradiating the work W can be not only a sine waveform but also a pattern light such as a triangular wave.

It is also possible to irradiate light having a uniform illuminance distribution in the plane by passing a current having the same current value through all the light emitting diodes. By changing the current value flowing through all the light emitting diodes in the same way, the light emitting state can be changed from the dark surface emitting state to the bright surface emitting state.

Further, in the case of a liquid crystal panel and an organic EL panel, by controlling each panel, the light emitted from each panel can be made into a pattern light having a periodic illuminance distribution. In the case of a digital micromirror device, it is possible to generate and irradiate a pattern light having a periodic illuminance distribution by controlling the built-in micromirror surface. The configuration of the lighting device 2 is not limited to that described above, and any device or device capable of generating patterned light having a periodic illuminance distribution can be used.

Further, as will be described later, as the illuminating device 2 used when generating an inspection image by using the photometric stereo method, an illuminating device capable of individually irradiating illumination from at least three or more different directions can be used. Further, the lighting device 2 may be a lighting device configured to enable multispectral lighting, and the configuration of the lighting device 2 is not particularly limited.

(Configuration of Imaging Device 3)
The image pickup apparatus 3 includes a camera 31, a condensing optical system 32, and an image pickup control unit 33. The image pickup device 3 is connected to the setting device 4 via a signal line 100b, and can be installed away from the lighting device 2 and the setting device 4.

The camera 31 has an image sensor including an image sensor such as a CCD or CMOS that converts the intensity of light obtained through the condensing optical system 32 into an electric signal. The image pickup control unit 33 has a storage device and a signal processing device, and is a part that controls the exposure start and end of the camera 31, controls the exposure time, adjusts the analog gain, and the like. The drive of the image sensor and the transfer of image data can be controlled by the internal logic circuit. Further, the image pickup control unit 33 can perform various image processing, filter processing, and the like, and the image pickup device 3 is a device having a filter processing function.

The condensing optical system 32 is an optical system for condensing light incident from the outside, and typically has one or more optical lenses. Further, the condensing optical system 32 is configured to be capable of performing autofocus. The positional relationship between the image pickup device 3 and the lighting device 2 is set so that the light emitted from the lighting device 2 toward the surface of the work W is reflected by the surface of the work W and incident on the condensing optical system 32. can do. When the work W is a transparent member such as a transparent film or a sheet, the pattern light emitted from the lighting device 2 toward the surface of the work W passes through the work W and is condensed by the image pickup device 3. The positional relationship between the image pickup device 3 and the illumination device 2 can be set so as to be incident on the system optical system 32. In any of the above cases, the image pickup device 3 and the illumination device 2 are arranged so that the specular reflection component and the diffuse reflection component reflected on the surface of the work W are incident on the condensing optical system 32 of the image pickup device 3. Further, although a line camera in which the light receiving elements are arranged linearly in the Y direction can be used for the image pickup apparatus 3, an area camera (the light receiving elements are arranged so as to be arranged in the X direction and the Y direction) instead of the line camera. (Camera) can also be used, and in the case of this area camera, a form of coaxial illumination is also possible.

(Embodiment 2)
FIG. 2 is a diagram schematically showing a schematic configuration and an operating state of the image inspection system according to the second embodiment of the present invention. In the second embodiment, the image pickup control unit 33 is separated from the camera 31 having the image pickup element and the condensing optical system 32, and the illumination control unit 2b is incorporated into the image pickup control unit 33 and integrated. The image pickup control unit 33 is connected to the setting device 4 via a signal line 100b. The image pickup control unit 33 and the illumination control unit 2b can be separated from each other.

(Embodiment 3)
FIG. 3 is a diagram schematically showing a schematic configuration and an operating state of the image inspection system according to the third embodiment of the present invention. In the third embodiment, the lighting control unit 2b is incorporated into the image control unit 33 and integrated, and the display unit 5 and the mouse 7 are connected to the image control unit 33. The setting device 4 is composed of, for example, a notebook computer or the like, and is connected to the image pickup control unit 33. The setting device 4 has a keyboard 6. Further, a mouse may be connected to the setting device 4. Various user interfaces and the like generated by the setting device 4 can be displayed on the display unit 5 via the image pickup control unit 33.

(Embodiment 4)
FIG. 4 is a diagram schematically showing a schematic configuration and an operating state of the image inspection system according to the fourth embodiment of the present invention. In the fourth embodiment, the lighting device 2 and the imaging device 3 are integrated, and the lighting control unit 2b and the imaging control unit 33 are also integrated. In the first to fourth embodiments, the same parts as those in the first embodiment are designated by the same reference numerals and the description thereof is omitted.

(Deflation metric processing)
In the first to fourth embodiments, phase data on the surface of the work W is generated from a plurality of luminance images captured by the image pickup apparatus 3 based on the principle of deflation, and an inspection showing the shape of the work W based on the phase data. It is configured to perform a deflection metering process to generate an image for use.

Hereinafter, the generation of the inspection image will be described in detail according to the flowchart shown in FIG. In step SA1 of the flowchart, the lighting device 2 generates pattern light according to a predetermined lighting condition and illuminates the work W. The illumination conditions at this time are Y-direction pattern light when the phase is 0 °, Y-direction pattern light when the phase is 90 °, Y-direction pattern light when the phase is 180 °, Y-direction pattern light when the phase is 270 °, and 0. The lighting conditions can be such that the X-direction pattern light in the case of °, the X-direction pattern light in the case of 90 °, the X-direction pattern light in the case of 180 °, and the X-direction pattern light in the case of 270 ° are sequentially generated. .. Therefore, the lighting device 2 generates a total of eight types of pattern light (four types in the X direction and four types in the Y direction) and sequentially irradiates the work W. Each time the pattern light is irradiated, the imaging device 3 images the work W. Since the number of times of irradiation of the pattern light is 8 times at the time of imaging by the image pickup apparatus 3, eight luminance images can be obtained. Depending on the shape of the work W and the like, only the X-direction pattern light or the Y-direction pattern light may be irradiated. Further, the number of pattern lights may be three.

After that, the process proceeds to step SA2, and the eight luminance images obtained in step SA1 are subjected to deflation metrics processing. By imaging the work W irradiated with the pattern light, each pixel value of the obtained luminance image includes a specular reflection component and a diffuse reflection component (+ environmental component). Since the phase of the illuminance distribution of the pattern light is shifted by 90 ° (π / 2) in the X direction and the image is taken four times, four types of pixel values can be obtained by irradiating the pattern light in the X direction. The diffuse reflection component, the specular reflection component, and the specular reflection angle (phase) are phase data and can be calculated by a well-known calculation formula.

Similarly, since the phase of the illuminance distribution of the pattern light is shifted by 90 ° (π / 2) in the Y direction and the image is taken four times, four types of pixel values can be obtained by irradiating the pattern light in the Y direction. Similarly, the diffuse reflection component, the specular reflection component, and the specular reflection angle (phase) can be calculated in the Y direction.

For example, a specular reflection component image can be obtained by eliminating the diffusion component by the difference between the opposite phases. It is obtained in the X direction and the Y direction, respectively, and a specular reflection component image is obtained by synthesizing them. The specular reflection angle can be obtained by calculating the angle with tanθ = sinθ / cosθ based on the specular reflection component with a deviation of π / 2. Further, the average image contains a diffusion component and an environmental component, and is obtained by eliminating the specular reflection component by adding the opposite phases.

In step SA3, contrast correction is performed on the diffuse reflection component image. Further, in step SA4, contrast correction is performed on the specular reflection component image. Each contrast correction can be a linear correction. For example, the ROI is corrected so that the average is the median. In the case of 8 bits, the median value may be 128 levels. As a result, the corrected diffusion component and the corrected specular reflection component can be obtained.

Further, in step SA5, the difference between the phase component and the reference phase is taken. In this step SA5, the difference is acquired with respect to the phase of the reference plane. For example, the user specifies a spherical shape, a cylindrical shape, a flat shape, or the like as the reference plane, and obtains the difference from these. Alternatively, it may be extracted with a free curved surface. The corrected phase (difference) is obtained in the X direction, and the corrected phase is also obtained in the Y direction. The diffuse reflection component image, specular reflection component image, and reference phase difference image can be output images.

In step SA6, a layered image and a depth contour image are obtained based on the reference phase difference image obtained in step SA5. The layered image is an image in which 1/2 reduction is repeated. As a result, a layered phase image is obtained in the X direction and the Y direction, respectively.

On the other hand, the depth contour image is an output image in which a portion having a large phase difference is emphasized, and is a concept different from curvature. The depth contour image can be obtained at a higher speed than the shape image obtained by stacking the shapes, and has advantages such that line scratches on the work W are extremely easy to see and the contour can be easily extracted.

Next, in step SA7, the shapes are stacked on the layered phase images to generate the shape images. A shape image can be obtained by performing a stacking calculation such as by the Gauss-Jacobi method for the specular reflection angles in the X direction and the Y direction. The shape image is an output image.

In general, there are many cases where the shape is restored by unwrapping and then triangular ranging, but in this embodiment, unwapping is avoided and the local differential values are accumulated and calculated by the Gauss-Jacobi method. As a result, the shape is restored without relying on triangular distance measurement. As a shape restoration method, a known method can be appropriately used. A method that does not use triangular ranging is preferable. It is also possible to use a hierarchical method in which reduced images are held in multiple stages. It is also possible to use a method having a difference between the reduced image and the normal image.

Furthermore, the feature size can be set as a parameter. The feature size is a parameter for setting the size of the scratch to be detected according to the purpose and type of inspection. For example, when the parameter value of the feature size is 1, the finest scratches can be detected, and when this value is increased, large scratches can be detected. As a result, when the feature size is increased, larger scratches are easily detected, and scratches and irregularities on the surface of the work W become clear.

In step SA8, simple defect extraction is performed. That is, after generating an image in which the line scratches (defects) of the work W are easily inspected, an image in which the stains (defects) in the work W are easily inspected, and an image in which the dents (defects) in the work W are easily inspected, the images are displayed. The appearing defects are displayed on the defect extraction image. The defect extraction image is an image that can extract and display the defects appearing in each image, and can also be called a composite defect image because the extracted defects can be combined and displayed in one image. ..

For example, the specular reflection component image is an image in which it is easy to confirm stains that dull the specular reflection, scratches that have no shape change but dull specular reflection, or scratches that do not return specular reflection due to the shape change. The diffuse reflection image is an image in which it is easy to confirm the state of the texture on the surface of the work W (specifically, characters on the printed matter, dark stains, etc.). The shape image is an image in which the phase changes are accumulated while looking at the surrounding pixels according to the feature size. Here, if the feature size of the shape image is set large, it is possible to capture unevenness that is relatively shallow and has a large area even in the shape change. On the other hand, if the feature size of the shape image is set small, line scratches and scratches with a small area can be captured. In addition, defects that are difficult to appear in the shape image (for example, fine scratches and deep scratches) tend to appear easily in the specular reflection component image. Further, in the depth contour image, a reference plane is calculated and the deviation from the reference plane is imaged. From the depth contour image, line scratches and scratches with a small area can be captured.

After performing simple defect extraction in step SA8, a defect extraction image displaying the extracted defects is output.

(Embodiment 5)
FIG. 6 is a diagram schematically showing a schematic configuration and an operating state of the image inspection system according to the fifth embodiment of the present invention. The above-described first to fourth embodiments are embodiments in which an inspection image is generated based on the principle of deflation metrics, whereas in the fifth embodiment, an inspection image is generated by using a photometric stereo method. It is configured.

Hereinafter, a specific method for generating an inspection image by using the photometric stereo method will be described with reference to FIG. 6, with the same reference numerals being added to the same parts as those in the first embodiment and different parts. Will be described in detail.

The image inspection system 1 according to the fifth embodiment can be configured in the same manner as the image inspection system disclosed in, for example, Japanese Patent Application Laid-Open No. 2015-232486. That is, the image inspection system 1 includes an image pickup device 3 that images the work W from a certain direction, and an illumination device 200 for illuminating the work W from three or more different illumination directions, and is the same as the first embodiment. It includes at least a display unit 5, a keyboard 6, and a mouse 7.

The lighting device 200 is configured to irradiate the work W with light from different directions, and controls the first to fourth light emitting units 201 to 204 and the first to fourth light emitting units 201 to 204. It has a lighting control unit 205 and the like. The lighting device 200 is a portion that executes multi-directional lighting that irradiates the work W with light from different directions. The first to fourth light emitting units 201 to 204 are arranged so as to surround the work W at intervals from each other. Light emitting diodes, incandescent bulbs, fluorescent lamps, and the like can be used for the first to fourth light emitting units 201 to 204. Further, the first to fourth light emitting units 201 to 204 may be separate bodies or may be integrated.

In this embodiment, the first to fourth light emitting units 201 to 204 are sequentially turned on, and when any of the first to fourth light emitting units 201 to 204 is turned on, the image pickup device 3 images the work W. For example, when the lighting device 200 receives the first lighting trigger signal, the lighting control unit 205 lights only the first light emitting unit 201. At this time, the image pickup device 3 receives the image pickup trigger signal and images the work W at the timing when the light is irradiated. When the lighting device 200 receives the second lighting trigger signal, the lighting control unit 205 lights only the second light emitting unit 202, and at this time, the image pickup device 3 images the work W. In this way, four luminance images can be obtained. The number of lights is not limited to four, but can be any number as long as the number of lights is three or more and the work W can be illuminated from different directions.

Then, the normal vector for the surface of the work W of each pixel is calculated by using the pixel value for each pixel which is in a corresponding relationship between the plurality of luminance images captured by the imaging device 3. The calculated normal vector of each pixel is subjected to differential processing in the X and Y directions to generate a contour image showing the contour of the inclination of the surface of the work W. Further, from the calculated normal vector of each pixel, the same number of albedos of each pixel as the normal vector is calculated, and a texture drawing image showing a pattern in which the tilted state of the surface of the work W is removed is generated from the albedo. .. Since this method is a well-known method, detailed description thereof will be omitted. By synthesizing a plurality of luminance images based on the principle of photometric stereo, it is possible to generate a shape image showing the shape of the work W.

(Multi-spectral lighting)
As another embodiment, the illuminating device 2 capable of multispectral illumination may be used. Multispectral illumination is to irradiate the work W with light having different wavelengths at different timings, and is suitable for inspecting color unevenness, stains, etc. of printed matter (inspection object). For example, the lighting device 2 can be configured so that the work W can be irradiated with yellow, blue, and red in order. Specifically, the lighting device 2 may have LEDs of a large number of colors, or may be a liquid crystal display. The lighting device 2 may be composed of a panel, an organic EL panel, or the like.

The image pickup device 3 takes an image of the work W at the timing when light is irradiated to obtain a plurality of luminance images. Then, a plurality of luminance images can be combined to obtain an inspection image. This is called multispectral imaging. A shape image showing the shape of the work W can be generated by synthesizing a plurality of luminance images by multispectral imaging. The light to be irradiated may include ultraviolet rays and infrared rays.

(Connection interface between camera and image inspection application)
The camera 31 is a GenICam standard compatible camera compatible with the GenICam standard. The GenICam standard is a standard for standardizing the connection interface between the PC application and the camera 31, and as shown in FIG. 7, the image inspection application 40 to the camera 31 built mainly on the personal computer which is the main body of the setting device 4 The interface for controlling the above and acquiring the image captured by the camera 31 with the image inspection application 40 of the setting device 4 is standardized. If both the image inspection device 3 and the image inspection application 40 of the setting device 4 support the GenICam standard, the camera 31 and the image inspection application 40 of the setting device 4 can be connected. The image inspection application 40 is composed of software installed on a personal computer. In this embodiment, the case where the camera 31 and the setting device 4 correspond to the GenICam standard as a standardization will be described, but the standardization standard is not limited to the GenICam standard, and other standardization standards may be used. Good.

Assuming that the image inspection application 40 is decomposed into a hierarchical structure, the GenICam layer 41 communicates with a higher layer (inspection unit 4A) that actually performs image inspection, defect inspection, etc. in the image inspection application 40 and specific network communication. It is positioned as an intermediate layer located between the layer 42 that controls based on the standard. The GenICam layer 41 can be roughly classified into two parts, GenApi41a and GenTL (TL: Transport Layer) 41b. The GenApi41a is a part that converts the setting items of the camera 31 and the register address inside the camera 31. With this GenApi41a, the image inspection application 40 does not specify the specific address of the camera 31, but abstractly, if it is an exposure time, it is an argument such as "ExposureTime", and if it is an analog gain, it is an argument such as "AnalogGain". By specifying the setting item in and analyzing the file called ExposureXML (details will be described later) acquired from the camera 31 when connecting to the camera 31, the register address corresponding to the character string (called Feature) can be obtained. Can be indexed.

The GenTL41b defines an interface (API) that controls the transfer of data between the image inspection application 40 and the camera 31, and specifically, the specifications of the API for writing to and reading from the register of the camera 31 and the camera. It defines the specifications of the API that transfers the image data transferred from 31 to the upper layer of the image inspection application 40.

The physical standard for connecting the image inspection application 40 and the camera 31 may be a standard using a high-speed network. For example, a GigE Vision standard 3A using an Ethernet cable 31a and a USB3.0 compatible cable 31b are used. There is USB3Vision standard 3B. Therefore, the image pickup device 3 and the setting device 4 are connected via a network, and this network may be wired or wireless using a high-speed network cable. Further, the network may be a network using a cable other than the Ethernet cable 31a or the USB3.0 compatible cable 31b, and is not particularly limited.

The GenICam standard does not specifically specify what is used as a physical communication standard, but only defines an abstract specification in the form of GenTL41b. As the lower layer 42 of the GenTL41b, a communication standard is defined by using a specific communication network such as GigE Vision standard 3A or USB3 Vision standard 3B. The specific communication standard is not limited to the GigE Vision standard 3A and the USB3 Vision standard 3B, and may be compatible with the GenICam standard. FIG. 7 shows a state in which cameras 31 and 31 corresponding to each standard are connected to the setting device 4 in order to explain the concepts of the GigE Vision standard 3A and the USB3 Vision standard 3B, but only one camera 31 is set. It can be used by connecting to the device 4.

The GenICam standard compatible camera 31 stores a file (DeviceXML file) 31c called a deviceXML. The DeviceXML file 31c is stored in a storage device (internal memory) built in the camera 31. The image inspection application 40 corresponding to the GenICam standard reads the DeviceXML file 31c from the camera 31 when connecting to the camera 31 which is the setting target by the image inspection application 40. To read the DeviceXML file 31c, for example, there is a method of downloading the DeviceXML file 31c from the camera 31. The downloaded DeviceXML file 31c is held by GenApi41a. The DeviceXML file 31c can be downloaded at the request of the image inspection application 40 or automatically when the camera 31 is connected. By downloading the DeviceXML file 31c, the setting device 4 downloads the DeviceXML file 31c. You can get it. It is also possible to obtain the DeviceXML file 31c corresponding to the camera 31 by another means (for example, download from a website) without downloading from the connected camera 31, and specify it for GenApi41a at the time of connection. is there.

In the DeviceXML file 31c, all the setting items held inside the camera 31 and the register address (register information) in which the setting value of each setting item is stored are described in association with each other. The setting item is called a feature, and each feature is assigned a character string for specifying the individual feature. Each Featur node contains a reference to a node that contains a specific register address. The register information also includes a register address and a character string that identifies the register.

In the DeviceXML file 31c, for example, there is a Featur named "ExposureTime" (exposure time setting), and its attribute is instructed to refer to the register address "ExposureTimeReg", and a certain value is used as a specific address. It is assumed that it was described. If the cameras 31 are different, the addresses may have different values, but the name of the feature "ExposureTime" is common. In this way, by managing the setting items that are common to many cameras 31 with a unified name, the image inspection application 40 does not need to be aware of the difference in the model of the camera 31 or the difference in the manufacturer. 31 can be set and controlled.

As described above, in the hierarchy of GenApi41a, by analyzing the description contents of the DeviceXML file 31c, the Featur character string passed as an argument from the image inspection application 40, which is a higher hierarchy, is converted into the address of the register. For example, when writing a value (value: 100.5) in a register corresponding to the feature called "FunctionTime", there are two values, an address value and a write value, such as WriteRegister (address value, 100.5). By executing the function with the argument of, the value of the register of the camera 31 can be set via the physical communication standard such as GigE Vision standard 3A or USB3 Vision standard 3B.

The DeviceXML file 31c stipulates what should be included as a common feature for each manufacturer, but it is also possible to define a vendor's own feature. In the case of the camera 31 having a highly unique function, it is possible to use a special function that does not exist in a general-purpose camera by accessing the camera 31 through a dedicated feature.

(Internal processing unit of imaging device 3)
FIG. 8 is a flowchart conceptually showing an example of the internal processing of the image pickup apparatus 3. In this flowchart, the group of position correction 1 is described so as to include a pattern search unit and a position correction unit included in the group, but groups of position corrections 2 to 5 are not described. This is because the groups of position corrections 2 to 5 are folded to simplify the figure.

As shown in this flowchart, it is composed of a combination of a plurality of units. The unit is a unit that controls image pickup and image processing, and by combining the units on a flowchart, the image pickup apparatus 3 can realize a desired operation. In the flowchart shown in FIG. 8, the unit is described as one step.

For example, when a function that performs a certain process is enabled by the user's setting, the process can be made executable by adding a unit corresponding to the function. A unit can be defined as a set of a program for executing a process, parameters required for executing the process, and a storage area for storing data of the process result. Each process can be performed by the image pickup control unit 33 shown in FIG. 1, and a storage area can be secured in the storage device of the image pickup control unit 33. The concept of the unit itself is not indispensable for realizing the external specifications of the camera 31 corresponding to the GenICam standard.

The flowchart shown in FIG. 8 is a flow chart in which a plurality of units are arranged in the vertical direction and the horizontal direction, and may be simply called a flow. It may be a flowchart in which a plurality of units are arranged only in the vertical direction. The processing is executed in order from the start to the end of the flowchart shown in FIG. 8, but it is also possible to branch by providing the branch step SB1 in the middle. In the case of branching, a merging step SB2 can be provided before the end, whereby the merging step SB2 can be provided before proceeding to the end.

(Parameter set)
When the image inspection application 40 is operated in an actual inspection environment, the setting parameters of the image pickup apparatus 3 may be dynamically changed when the work W is switched or a change in the surrounding environment such as brightness is detected. is there. When changing only a very limited parameter such as the exposure time, it can be dealt with by directly writing the corresponding Feature value from the image inspection application 40.

On the other hand, in the case of the high-performance imaging device 3, the number of items that can be set increases, and the number of parameters that should be changed at one time also increases when the work W is switched. In this case, the time required to change the setting increases in correlation with the number of parameters. In an actual image inspection line, it is often the case that the work W is switched and the time from when the new work W reaches the imaging field of view of the imaging device 3 to when it goes out of the field of view is short, and a series of setting changes can be performed at high speed. There will be cases you want to do. At such times, a function called a parameter set may be used.

The parameter set holds a plurality of patterns of combinations of various parameters when imaging with the image pickup apparatus 3 in advance so that each pattern can be managed by the parameter set number. For example, if there are three types of work W and you want to perform imaging and subsequent processing with different parameters for each, prepare three parameter sets.

By using the parameter set, a series of setting changes can be completed in a short time by simply specifying the parameter set number corresponding to the type of the work W to be imaged next before imaging the work W. When viewed from the image inspection application 40, the feature that specifies the parameter set number can be considered as a kind of selector described later.

The selector for switching the target to be set from the image inspection application 40 side and the register for switching the parameter internally referenced by the image pickup apparatus 3 during operation can be independent or the same. The upper limit of the number of parameter sets that can be set is limited to the parameter holding space of the internal memory provided inside the image pickup apparatus 3.

The concept of the parameter set can also be applied to the image pickup apparatus 3 having a filtering function. For example, when the parameter set Index is 1, the binarization filter is executed, when the parameter set Index is 2, the expansion filter is executed, and when the parameter set Index is 3, the filter is not executed. It is assumed that the parameters corresponding to the set Index have been set. By doing so, it is possible to dynamically switch between imaging and the content to be executed as the filtering process by the parameter set Index.

The GenICam standard supports the function of dynamically switching imaging parameters. The image pickup device 3 makes it possible to access all the setting parameters by the feature according to the GenICam standard. The image pickup function includes a function of synchronizing the lighting device 2 and the image pickup device 3 and synthesizing images captured in a plurality of patterns by a dedicated algorithm (generation of an inspection image using the above-mentioned principle of deflection metrics), and a wavelength. It has multiple illumination-imaging control modes, such as a multispectral imaging function that irradiates different lights to acquire multiple images. These can be set for each of the above parameter sets, and it is possible to execute imaging processing, filtering processing, compositing processing, and image output while dynamically switching according to conditions. The image generated by the imaging function may be the image itself acquired by the image sensor while switching the lighting pattern of the illumination, or may include a plurality of images synthesized by the above-mentioned dedicated algorithm. ..

In the filtering process, it is possible to set a plurality of patterns in the same parameter set. For example, in the above-mentioned imaging function, a plurality of patterns of images are generated by executing a series of imaging, and it is possible to individually filter a plurality of different images generated there. .. Further, in another pattern, it is possible to set a specific region range (ROI: Region Of Interest) for the same image and then filter only the inside of each region. The range of a specific area can be set by, for example, operating the keyboard 6 or the mouse 7. The specific area may be one or a plurality. The size of a specific area can be set arbitrarily.

The filter processing may be a multi-step filter in which a plurality of types can be repeatedly set in multiple steps for the same image. For example, after performing expansion filtering on a certain image, binarization filtering can be performed on that image. The filtering process is not limited to the multi-step filter process, and may be a single filtering process.

By utilizing the function of dynamically switching the imaging parameters of the GenICam standard, it is possible to combine a plurality of parameter sets into one flowchart as shown in FIG. On the internal processing flowchart of the image pickup apparatus 3, the unit group forming the flowchart from the branch step SB1 to the merging step SB2 is collectively called a parameter set. The example shown in FIG. 8 has four parameter sets, that is, first to fourth parameter sets. That is, there are a plurality of patterns of combinations of values of a plurality of selectors for realizing the process set by the user. Which of the first to fourth parameter sets is selected can be set by the user. For example, when the parameter set number 1 is selected, the first parameter set is automatically selected.

After the start of the flowchart shown in FIG. 8, in the branching step SB1, after passing through each unit constituting any of the first to fourth parameter sets, they can be merged in the merging step SB2 and proceed to the end. When the parameter set number 1 is selected, the branch number becomes 1 in the branch step SB1, and each process of the first parameter set is executed. When the parameter set number 2 is selected, the branch number becomes 2 in the branch step SB1, and each process of the second parameter set is executed. When the parameter set number 3 is selected, the branch number becomes 3 in the branch step SB1, and each process of the third parameter set is executed. When the parameter set number 4 is selected, the branch number becomes 4 in the branch step SB1, and each process of the fourth parameter set is executed. The number of parameter sets is not limited to four and can be set arbitrarily.

Specific examples of the parameter set are shown in FIGS. 9 and 10. FIG. 9 is a parameter set for generating an inspection image using the principle of deflation metrics. The unit UA1 executes a plurality of imaging processes with one trigger signal in order to generate an inspection image using the principle of deflection metric, the unit UA2 executes an expansion filter process, and the unit UA3 performs an averaging filter. The processing is executed, and the unit UA4 executes the shading inversion processing. That is, the multi-step processing defined by the parameter set including the filter processing is sequentially executed for the captured image captured by the unit UA1. After that, the unit UA5 transfers the image data in which the multi-step processing is sequentially executed to the PC, that is, outputs the image data to the setting device 4 or the like which is an external device. The image data may be stored inside without being transferred. Depending on the parameter set, it is possible to set not to perform multi-step processing. When transferred to the setting device 4, the inspection unit 4A of the image inspection application 40 shown in FIG. 7 can perform defect inspection and pass / fail judgment. Conventionally known algorithms for defect inspection and quality determination can be used.

On the other hand, FIG. 10 is a parameter set when an inspection image is generated by multispectral imaging. The unit UB1 executes a plurality of imaging processes with one trigger signal in order to generate an inspection image by multispectral imaging, and the unit UB2 executes a binarization filter process for a certain region (region 0). , Unit UB3 executes an expansion filter process on a region (region 1) different from the region 0. That is, also in this example, the multi-step processing defined by the parameter set including the filter processing is sequentially executed for the captured image captured by the unit UB1. After that, the unit UB4 does not execute the process. The unit UB5 transfers the image data to the PC in the same manner as shown in FIG. As in this example, there may be units that are not processed, that is, invalidated units in the parameter set, and the parameter set is a mixture of enabled units and invalidated units. You may.

Therefore, since the image pickup device 3 can execute the multi-step processing in order for the captured image as set by the setting device 4, the user can freely set an ordered procedure. This allows the image pickup apparatus 3 to perform complicated image processing. It is also possible to reflect settings that are not in order, such as exposure time.

(Unit type)
There are multiple types of units, for example, a pattern search unit that performs pattern search processing to determine the inspection area, a position correction unit, an image calculation unit that internally performs image position correction, color extraction, filtering, etc., or Some of these units that perform relatively simple processing are combined to enhance their functionality. Each unit is a unit for executing a process applied to the captured image before outputting the captured image captured by the imaging device 3 to the outside, and is a captured image as shown in FIGS. 9 and 10. Can be arranged to perform multi-step processing.

The pattern search unit is a unit for searching the work W and the inspection target portion in the work W from the images including the work W captured by the imaging device 3 and correcting the position of the work W in the captured image. is there. For example, when the image inspection system 1 is set, edge detection is performed on the image obtained by capturing the work W by a well-known edge detection method, and the area specified by the detected edge is the work W or the inspection target portion of the work W. It can be stored in the storage device of the image pickup device 3 as a model (model image for search). A well-known method can be used for the edge detection process itself. For example, the pixel value of each pixel on the luminance image is acquired, and the change in the pixel value on the luminance image becomes equal to or greater than the threshold value for edge detection. If the area exists, the boundary part is extracted as an edge. The edge extraction threshold can be arbitrarily adjusted by the user.

After setting the image inspection system 1, when the image inspection system 1 is in operation, the work W that is sequentially conveyed is imaged to obtain an inspection image, and the pattern search unit uses the work W or the work W or the obtained inspection image on the obtained inspection image. The presence or absence of the inspection target portion of the work W is searched based on the stored model, and the position and angle of the work W are measured by the search process. The position of the work W can be specified by the X coordinate and the Y coordinate. Further, the angle of the work W can be an angle around the optical axis of the image pickup apparatus W or an angle around the Z axis shown in FIG.

The position correction unit searches the image including the work W captured by the imaging device 3 with the pattern search unit for the work W and the inspection target portion in the work W, measures the position and angle of the work W, and then measures the position and angle of the work W. This is a unit for correcting the position of the work W in the image. When operating the image inspection system 1, a plurality of work Ws are not always transported in the same position and posture, and work Ws in various positions and work Ws in various postures may be transported. .. Since the pattern search unit can search the reference part of the work W and then the position correction unit can correct the position, the reference part of the work W is always at a constant position and the work W is predetermined. Position correction is performed by rotating the image or moving the image in the vertical or horizontal direction so that it is in the posture. As a position correction tool for performing position correction, a plurality of types of tools such as a pattern search can be prepared.

There are a plurality of types of image calculation units, for example, a unit that performs filtering processing, a unit that performs compositing processing that synthesizes a plurality of images captured by the image pickup device 3, a unit that performs deflection metrics processing, and a photometric stereo method. There are units that generate inspection images, units that perform multispectral imaging, and the like. Since there are a plurality of types of filtering, a plurality of types of units for performing filtering can be provided, for example, a binarizing filter and an expansion filter. Since the generation of the inspection image by the deflection matrix processing undergoes a plurality of processes as described above, a unit may be provided for each process, and a unit for generating a specular reflection component image, a unit for generating a diffuse reflection component image, A unit or the like for generating a reference phase difference image can be provided.

(Pretreatment module)
FIG. 11 shows an example of a preprocessing module. The preprocessing module can be a combination of a group consisting of a pattern search unit and a position correction unit and an image calculation unit, but this is an example and is a preprocessing module consisting of only one group. It may be a preprocessing module in which any other unit is combined. The pre-processing modules are numbered and can be distinguished from "pre-processing module 0", "pre-processing module 1" and the like.

Multiple pre-processing modules can be added or set in order to enhance the extensibility of functions, and each has an index such as "pre-processing module 0 (Pre-processing Module 0)" and "pre-processing module 1 (Pre-processing Module 1)". Be identified.

(selector)
A plurality of preprocessing modules can be added to any one parameter set in the flowchart shown in FIG. For example, an arbitrary preprocessing module can be added by the setting parameter for executing the pattern search process and the setting parameter for executing the filter process.

However, if individual setting registers are provided for each preprocessing module, the same register (Fature) will appear repeatedly, resulting in redundancy. In this embodiment, the editing target (setting target) can be dynamically switched by using the selector. The setting targets that can be switched by the selector are, for example, the parameter set (branch number), the preprocessing module number, the number of filter stages in the case of a multi-stage filter (how many stages the filter is set), and the like. That is, the Feature that specifies the parameter set number, the Feature that specifies the preprocessing module number, and the Feature that specifies the number of filter stages are a kind of selector. The value of this selector is included in the DeviceXML file, along with register information indicating where the value of the selector is stored. Therefore, before outputting the captured image captured by the imaging device 3 to the outside, a plurality of selectors associated with the setting items for setting the multi-step processing applied to the captured image, and each selector The DeviceXML file will contain register information indicating where the values are stored.

(Multi-stage selector)
As shown in FIG. 8, the flowchart is laterally branched according to the parameter set, and inside each parameter set, for example, a plurality of preprocessing modules can be added. Further, in one preprocessing module, a plurality of stages of preprocessing (filter processing, etc.) can be set. The relationship between the feature to which the setting items of the setting user interface 50 are associated and the unit to be edited that holds the substance of the parameter actually edited by the feature is specified by going through these selectors in a plurality of steps. To. In this embodiment, the role of the selector is roughly divided into three, parameter set specification, filter processing specification, and multi-stage filter specification. The parameter set specification is located at the highest level and is below the parameter set. The specification of the multi-stage filter is located under the specification of the filtering process and the specification of the filtering process, but it is not limited to this. The selector that specifies the filtering process will point to the inside of a different parameter set (flow chart) if the parameter set is switched. Furthermore, the specification of the multi-stage filter specifies the actual filter settings that are set in multiple stages inside the filtering process. By combining the values of the plurality of selectors in this way, it is possible to specify the unit that holds the parameter to which the feature is associated. When the selector that specifies the parameter set is switched, at least the parameter setting target is switched, but whether or not it is switched to the execution target depends on the implementation.

For example, in the flowchart shown in FIG. 12, when the unit UX surrounded by the double line is specified, the selector of the uppermost parameter set is the parameter set number 3, and the selector Index of the preprocessing module is 1. The unit UX can be specified by determining the two values of something. For example, a pattern search unit, a position correction unit, an image calculation unit (including a filter processing unit), and the like can be determined by the value of the selector. Then, based on the feature name to be accessed, the parameter held by the target unit UX can be specified from the image inspection application 40 side to which unit of the pattern search unit, the position correction unit, and the image calculation unit belongs to the feature. Can be reached.

(Configuration of setting device 4)
The setting device 4 transmits to the imaging device 3 data indicating the setting values of each setting item set by the user and the register information corresponding to each setting item included in the DeviceXML file 31c, and sets the imaging device 3. It is a device for performing.

As shown in FIG. 7, the setting device 4 includes a UI generation unit 4a. The UI generation unit 4a is a part that generates various user interfaces, and is configured to be able to generate, for example, the setting user interface 50 shown in FIG. Various user interfaces generated by the UI generation unit 4a are displayed on the display unit 5.

The setting user interface 50 includes a first area 50a for switching an editing target, a second area 50b for displaying and changing setting items, and an image display area 50c for displaying an image to be edited. It is provided. The first area 50a is provided with an image switching operation area 51 for switching an image to be edited. In the image switching operation area 51, the identification information of the image captured by the image pickup device 3 is displayed in a list format. Examples of the image identification information include the name of the image and the number attached to the image. In this example, the names of the four images are displayed so as to be arranged vertically, but the number and arrangement directions of the displayed images can be arbitrarily set. The user can select an arbitrary name from the names of the images displayed in the image switching operation area 51 by operating the keyboard 6 and the mouse 7. When the name is selected, the UI generation unit 4a displays the image corresponding to the selected name in the image display area 50c. The image displayed in the image display area 50c can also be changed.

The second area 50b is provided with a position correction setting area 52 for setting a position correction as a setting item and a filter setting area 53 for performing a filter processing setting as a setting item. In the position correction setting area 52, a part for selecting whether or not to enable position correction and a part for selecting the type of the position correction tool are assigned and displayed as a feature corresponding to the position correction setting. .. Since the type selection of the position correction tool can be set only by enabling the position correction, the selection of whether or not to enable the position correction and the type selection of the position correction tool have a dependency relationship.

In the filter setting area 53, as a feature corresponding to the filter processing setting, a selected filter type and a portion for selecting and adjusting parameters related to the filter setting such as the extraction size and the extraction color are assigned and displayed. A plurality of types of filter processing may be performed on one image selected in the image switching operation area 51. In that case, a plurality of filter setting areas 53 are provided, and a feature corresponding to each filter processing setting is provided. Assigned and displayed.

The setting work by the user will be described. When the user selects any one of the image names displayed in the image switching operation area 51, the image with the selected name is displayed in the image display area 50c. If the parameters for generating the selected image can be edited and set, the display of the second area 50b is automatically switched. Internally, for example, when a certain preprocessed image is selected in the image switching operation area 51, the value of the selector that specifies the setting target is set to the index value corresponding to the preprocessing module used to generate the image. Is switched, and as a result, the setting contents to be displayed in the second area 50b are switched according to the image. When the value of the selector that specifies the setting target is specified, one or more features of the preprocessing module pointed to by the selector corresponding to that value are read, an image that reflects the setting item is generated, and the image display area 50c is displayed. It is displayed, and the values set for each parameter are displayed in the position correction setting area 52 and the filter setting area 53. When the user operates the operation part displayed in the position correction setting area 52 or the filter setting area 53, the operation is accepted and the unit corresponding to the preprocessing module corresponding to the value of the selector that specifies the setting target is set. The item is changed.

The following method can be used to identify the unit to be accessed from the selector value. That is, the preprocessing module is composed of a plurality of units, and the selector for switching the index of the preprocessing module can be the one common to these units, and for the plurality of units constituting the preprocessing module. , Which feature belongs to which unit can be named so as to be uniquely determined by the feature name. As a result, the unit to be accessed can be specified from the combination of the selector value and the feature selected as the editing target.

FIG. 14 is a diagram schematically showing a case where the second area 50b of the setting user interface 50 is switched by selecting the parameter set number, and the display of the user interface can be switched as shown in this figure. For example, the parameter set number selection unit 54 as shown on the left side of FIG. 14 is provided in the setting user interface 50. Further, as shown on the right side of FIG. 14, the user interface 50A for setting the first parameter set, the user interface 50B for setting the second parameter set, the user interface 50C for setting the third parameter set, and the fourth parameter The set setting user interface 50D exists in association with the parameter number. When the parameter set number is switched by the parameter set number selection unit 54, the UI generation unit 4a reconstructs the setting user interface 50 according to the parameter set number. That is, when the user selects the parameter set number 3, the user interface 50C for setting the parameter set number 3 is generated and displayed on the display unit 5.

FIG. 15 is a diagram conceptually explaining an internal mechanism in which a parameter set is switched by selecting a parameter set number. The image pickup apparatus 3 has a parameter set switching unit 30d that executes parameter set switching. The parameter set number (ParameterSetIndex) selected by the user is input to the parameter set switching unit 30d. The parameter set switching unit 30d selects a parameter set corresponding to the input parameter set number, and applies the selected parameter set to the image sensor 3c.

Therefore, the setting device 4 can display the setting user interface 50 on the display unit 5 and accept various settings by the user on the setting user interface 50. When the user sets the image captured by the image pickup device 3 to perform multi-step processing, the setting device 4 sets a plurality of selectors for realizing the multi-step processing set by the user. The combination of the values of is specified as a multi-stage selector, and the values of the plurality of selectors and the register information indicating the location where the plurality of selectors are stored can be transmitted to the image pickup apparatus 3. Then, the image pickup device 3 receives the values of the plurality of selectors transmitted from the setting device 4 and the register information indicating the location where the plurality of selectors are stored, and the register information corresponding to the values of the plurality of selectors is obtained. It is configured to be stored in the indicated location and to sequentially execute multi-step processing specified by the combination of the values of each selector.

When the user changes the setting value for the setting item of the imaging device 3, the setting value of each setting item set by the user and the register information corresponding to each setting item included in the DeviceXML file are displayed. Since the indicated data is transmitted to the image pickup device 3 and the image pickup device 3 can be set, the set value can be changed from the setting device 4 side if the image pickup device 3 conforms to the standardization standard. The degree of freedom in selecting the model of 3 is improved.

Further, since a part of the multi-step processing executed sequentially can be uniquely specified by the combination of the values of the selectors, the image pickup device 3 conforming to the standardization standard, for example, photometric stereo or deflect. It will be possible to perform multi-step processing such as generation of inspection images using the principle of metric, multispectral imaging, and filtering of the generated inspection images.

(Virtual flowchart and virtual unit)
Unlike the flowchart shown in FIG. 8, in an actual operating environment, there are many cases where units appearing in the horizontal or vertical direction do not have regularity that can be specified only by a combination of selectors, and in that state, the flowchart Every time the above unit configuration changes, it is necessary to regenerate the DeviceXML inside the camera 3 and to re-acquire the DeviceXML file each time on the PC software side, which makes it difficult to use.

When using a fixed DeviceXML file and corresponding to a flowchart with as few Featur representations as possible, the flowchart has a pattern that is determined to some extent in the vertical direction, and the shape that is copied horizontally by the concept of parameter set is desirable. For example, if the flowchart can be expanded in the vertical direction, that is, if the number of filter processes that can be set is increased, the entire flowchart will be expanded in the vertical direction by the number of filter processes that can be set. Also, if the number of available parameter sets is increased, the flowchart will be expanded in the horizontal direction accordingly. However, in an actual operating environment, it is difficult to imagine a case where filtering is used up to the settable upper limit for all parameter sets, especially when the upper limit of the settable number is a large value. It is expected that most units will be set to "non-executive", for example, unit UB4 shown in FIG.

Further, since there are a plurality of patterns of combinations of the values of the plurality of selectors for realizing the process set by the user, the setting device 4 sets the combination of the values of the selectors of the plurality of patterns with respect to the image pickup device 3. Can be sent. The image pickup device 3 receives the combination of the selector values of the plurality of patterns transmitted from the setting device 4, and the selector value of any one pattern selected by the user from the combination of the selector values of the plurality of patterns. The processing to be executed is specified by the combination of the above, and the setting parameters for executing the specified processing are dynamically expanded in the internal memory of the image pickup apparatus 3.

Inside the image inspection application 40, an accessible unit is determined by the combination of selectors and the type of feature, and the unit to which the internal memory area is actually allocated is automatically associated with the feature. As a result, the user can access without being aware of the shape of the virtual flowchart actually generated internally and the arrangement of the virtual units.

(Position correction and filtering)
Among the filtering processes, there is a filter that exerts an effect that strongly depends on the directionality of the image. Specifically, it is a direction-specific filter, a difference filter, or the like that extracts a portion where the change in the brightness value between pixels adjacent to each other in a predetermined direction of the image is equal to or greater than a predetermined threshold value. The direction-specific filter is a filter in which the predetermined direction can be selected from the X direction and the Y direction.

As shown in FIG. 16, when the captured image of the work W is an image in which white and black defect portions are reflected on a striped background in the Y direction, the X direction and the Y direction with respect to the captured image. When the defect extraction filter processing that is evenly executed is executed, the defect extraction filter is a filter that extracts the part where the change between adjacent pixels is large, so that the change is also detected in the Y direction by the striped pattern in the background. , Defects are less noticeable. On the other hand, when the filter process is executed so as to capture the change only in the X direction, the striped pattern in the background disappears and only the defective portion can be extracted, making it easy to understand the existence of the defective portion.

In this way, defects in the work W can be inspected. The defect inspection method is not limited to the above-mentioned method, and other defect inspection methods may be used. Further, the defect inspection may be performed by the imaging device 3 or the setting device 4. When the defect inspection is performed by the image pickup device 3, the inspection result can be output from the image pickup device 3 to the setting device 4 and displayed on the display unit 5. When the defect inspection is performed by the setting device 4, the inspection image generated by the imaging device 3 can be output to the setting device 4 so that the setting device 4 performs the defect inspection, or the imaging device 3 can perform the defect inspection. It is also possible to output the image captured by the setting device 4 to the setting device 4 and generate an inspection image by the setting device 4 to perform defect inspection.

A filter that exerts an effect that strongly depends on the directionality of such an image cannot obtain an appropriate processing result if the angle of the work W to be imaged changes. Therefore, before executing the filter processing, the image pickup device 3 measures the position and angle of the work W by the pattern search unit, and the image pickup device 3 performs the position correction by the position correction unit, so that the work W always has a specific direction. It can be corrected to the image facing. This is the position correction function. It should be noted that a plurality of types of tools used as the search unit can be set so that a tool suitable for detecting the work W can be selected. The search by the search unit is a search setting for correcting the position of the work W in the captured image, and this setting item is included in the DeviceXML file.

After the position is corrected by the position correction function, a filter process that exerts an effect strongly depending on the directionality of the image is executed to eliminate the influence of the angle around the optical axis at the time of imaging the work W and perform appropriate processing. You can get the result. As shown in FIG. 17, the search model image is specified and stored in the image pickup device 3 when the image inspection system 1 is set, and is rotated around the optical axis of the image pickup device 3 during the operation of the image inspection system 1. When the work W is imaged, the position correction process is performed so that the work W faces a specific direction based on the search model image, whereby the work W can specify the area in which the work W is reflected. Rotate so that it faces in the direction. Then, the direction-specific filter processing is executed on the image after the position correction processing.

FIG. 18 shows the filter setting user interface 55. The filter setting user interface 55 is generated by the UI generation unit 4a of the setting device 4 shown in FIG. 7, and is displayed on the display unit 5 shown in FIG. 1 and the like. The filter setting user interface 55 includes an image selection unit 55a for selecting an image to be filtered, a color extraction setting unit 55b for performing color extraction settings, a filter setting unit 55c for performing filter settings, and an image. An area setting unit 55d used when a predetermined area is cut out to generate a filtered image, and a position correction setting unit 55e for setting a position correction (search setting) are provided.

FIG. 19 is a diagram showing images that can be filtered in a list format, and the images that can be filtered differ depending on the method and type of generating the inspection image. The image selection unit 55a shown in FIG. 18 can select any one of the plurality of images shown in FIG. The image shown in FIG. 19 is an example and is not limited to these images.

FIG. 20 is a detailed user interface 56 for concretely performing filter setting, which is generated by the UI generation unit 4a of the setting device 4 shown in FIG. 7 and displayed on the display unit 5 shown in FIG. 1 and the like. For example, when the "Add" button of the filter setting unit 55c shown in FIG. 18 is pressed, the detailed user interface 56 shown in FIG. 20 can be displayed. The detailed user interface 56 is provided with a selection unit 56a for selecting the filter type to be executed, and a parameter change unit 56b for changing various parameters of the filter selected by the selection unit 56a.

FIG. 21 is a diagram showing the types of filters and the direction dependence of each filter. In the selection unit 56a shown in FIG. 18, any one or a plurality of filters can be selected from the plurality of filters shown in FIG. Examples of the filter having direction dependence include an expansion filter (X / Y direction), a contraction filter (X / Y direction), an edge extraction filter, a real-time shading correction filter (X / Y direction), and a blurring processing filter (X / Y direction). There are Y direction), line defect extraction filter (angle), and the like. These filter processes are filter settings that exert the effect of the direction-specific dependence of each filter by correcting the image in advance using the result of the position correction, and are setting items included in the DeviceXML file.

FIG. 22 shows a flowchart for executing the direction-specific filter after the position correction. In step SC1 after the start, imaging is performed. After that, in step SC2, a pattern search is performed on the image captured in step SC1, and then in step SC3, position correction is performed so that the work W faces a specific direction. In step SC4, image calculation is performed. Directional filter processing is performed as a part of the processing. After that, the process proceeds to step SC5 and the generated image is output to the setting device 4 or the like.

FIG. 23 shows a direction-specific filter after position correction when a plurality of areas (area 1 and area 2) are set in one image by the area setting unit 55d of the filter setting user interface 55 shown in FIG. It is a flowchart which executes. When imaging is performed in step SD1 after the start, for example, for region 1, pattern search is performed in step SD2 and then position correction is performed, and for region 2, pattern search is performed in step SD3 and then position correction is performed. .. After that, in step SD4, the image calculation is performed on the area 1 and then the generated image is output, and in step SD5, the image calculation is performed on the area 2 and then the generated image is output.

That is, the setting device 4 displays the filter setting user interface 55 and the detailed user interface 56, and the setting contents for realizing the search setting and the filter setting set by the user on the user interface 55 and 56, and the setting contents. It is configured so that the register information indicating the location where the setting contents are stored can be transmitted to the image pickup apparatus 3. When the image pickup device 3 receives the setting contents and the register information transmitted from the setting device 4, the image pickup device 3 stores the setting contents in the location indicated by the corresponding register information, and corrects the position of the work W based on the search setting for the captured image. Is performed, and the filter processing is executed based on the result of the position correction by the search setting. As a result, the effect of the filtering process depending on the position of the work W at the time of imaging can be sufficiently obtained.

(Following moving objects)
When an inspection image is generated based on the principle of photometric stereo or multispectrum, a plurality of imaging processes are executed with one trigger signal, and the obtained plurality of images are combined. In this case, if the work W is moving between a plurality of imaging processes, the compositing process after imaging cannot be performed correctly, so it is necessary to detect the amount of deviation for each image. A search for detecting the amount of deviation can be performed by the search unit, and the amount of deviation is corrected based on the detected amount of deviation, and then a plurality of images are combined.

The compositing process can be performed by the image calculation unit. A composition setting for synthesizing a plurality of captured images is included in the DeviceXML file as a setting item. Therefore, before outputting the captured image captured by the imaging device 3 to the outside, the DeviceXML file includes a composite setting for synthesizing a plurality of captured images as a setting item related to the processing applied to the captured image. become.

FIG. 24 is a flowchart in the case of following a moving object. In the imaging step of step SE1, by executing the private flowchart, imaging processing is performed a plurality of times and a pattern search is performed on each image. After that, in step SE2, the compositing process is performed in consideration of the amount of deviation of the plurality of images. In step SE3, the combined image is output. Further, as shown in the flowchart on the right, the image may be taken in step Se2 through step Se1, the pattern search may be performed in step Se3, and this may be repeated a predetermined number of times.

Further, the setting device 4 can display the user interface for performing the composition setting by the user on the display unit 5, and the setting content for realizing the composition setting set by the user on this user interface. And the register information indicating the location where the setting contents are stored can be transmitted to the image pickup apparatus 3. The image pickup device 3 receives the setting contents and register information transmitted from the setting device 4, stores the setting contents in the location indicated by the corresponding register information, and executes a compositing process for synthesizing a plurality of captured images. It is configured as follows.

(Form output)
The form is an output of the setting contents of the image pickup apparatus 3 corresponding to the GenICam standard in a text format. Each setting item is represented by a set of setting name and setting value, which are listed in a list format. In the present embodiment, the image inspection application 40 operates on the setting device 4, and the setting device 4 and the image pickup device 3 are connected by a standardization standard as described above. Therefore, the set contents are read from the imaging device 3 to the setting device 4, the read contents are output from the setting device 4 in a text format, managed and saved on the setting device 4, and if necessary, the setting device. It is necessary to be able to write back from the 4 side to the 3 side of the imaging device.

However, when generating an inspection image based on the principle of photometric stereo and the principle of deflation, or when generating an inspection image by multispectral imaging, there are many setting items and order is required. Become. Therefore, it is conceivable that the setting items become complicated. In this embodiment, a function that can easily output a form of a complicated setting item structure is installed. This is a function realized by the form output unit 4b shown in FIG. 7.

When outputting a form, there is a method of simply writing out the register values in ascending order of register addresses, but in order to restore the settings correctly, it is necessary to set each register in the order of setting between the registers. Therefore, it is preferable to write them out in the form in the correct setting order in advance.

The setting order includes the following (1) and (2).
(1) When another register can be set by enabling one register For example, there is a frame rate setting item as an example of a register defined by the GenICam standard. If the user wants to set an arbitrary frame rate, it is first necessary to control the register that enables the frame rate to be set. If the frame rate is left unset, the imaging device 3 will operate at an internally determined frame rate. That is, by enabling the register that enables the frame rate to be set, the register of the frame rate setting item can be set. Therefore, it is necessary to first write out the register settings that enable the frame rate to be set, and then write out the registers for the frame rate setting items.

Further, when a shape image is generated based on the principle of deflation metric, the feature size of the shape image can be set by enabling the generation of the shape image. Therefore, it is necessary to first write out the register settings that enable the generation of the shape image, and then write out the feature size setting register of the shape image.
(2) When the register pointed to by another register is switched by rewriting the register of the selector In this embodiment, a register (selector register) meaning an array index is separately introduced in order to reduce the register consumption of the array type parameter. There is. This is because if there is a selector register, only one register of the parameter body needs to be defined. For example, the terminal selector that selects a terminal and the selector that sets whether to invert the signal of the selected terminal have the relationship (2) above. Further, the white balance setting selector that can take any of red, green, and blue values and the white balance setting value of the selected color have the relationship of (2) above. Therefore, it is necessary to set the register of the parameter body after setting the selector register.

That is, there are a plurality of setting items having a dependency relationship in which the validity or value of the other setting item changes depending on the setting of one setting item. In the present embodiment, in consideration of the order shown in (1) and (2) above, the order of appearance of the registers in the DeviceXML file is determined in advance so that there is no dependency in the reverse direction regarding the setting order. Then, by writing out to the form in that order, the structure of complicated setting items can be made into a form in the correct setting order.

FIG. 25 shows an example of a form in which registers having two dependencies, dependency 1 and dependency 2, are described. Each register is defined by grouping related persons into a group called a category. It is also possible to group each category into one group by a higher category. The relationship between each category and each register has a tree structure as shown in FIG. The structure is formed because the category is formed by classifying a plurality of setting items having a dependency that the validity or value of the other setting item changes depending on the setting of one setting item according to the degree of relevance. It will be easier to understand. In addition, there are a plurality of categories in one form.

Classification of registers by category is useful when searching the list for registers that correspond to the contents that the user wants to set. Therefore, if the register appearance order is arranged in the correct order only from the viewpoint of the dependency by ignoring the category structure, the category structure will be destroyed, which will significantly hinder the convenience of the user. Will be done. Therefore, the form output unit 4b arranges the registers so that the order of appearance is correct while maintaining the classification structure by category.

Specifically, first sort from the end of the tree so that the sibling nodes have the correct appearance order. After that, the sibling nodes one level above the tree are sorted so that they appear in the correct order. This is repeated recursively toward the base of the tree. At this time, the order of appearance of the registers is rearranged so that the dependency between the registers is always from the rear to the front. Further, the appearance order of the categories is rearranged so that the category 2 first appears and then the category 1 appears when there is a dependency relationship from the register in the category 1 to the register in the category 2.

In addition, when sorting in each layer of the tree, topological sort is performed by regarding the dependency between registers / categories as a directed edge. The topological sort itself is known, and each node is ordered so that each node is located before the node beyond its output side.

Next, a specific example of the sorting procedure will be described with reference to FIGS. 26 and 27. In this example, categories and setting items have hierarchical dependencies.

Step 1: Swap the order of category 2-2 and register 2-3 at the end of the section. As a result, as shown in FIG. 26, the dependency 2 from the register 3-0 to the register 2-3 is correctly oriented in the direction from the rear to the front.

Step 2: Swap the order of categories 1-0 and registers 1-1 on the 1st hierarchy. As a result, as shown in FIG. 27, the dependency 1 from the register 2-1 to the register 3-0 is correctly oriented in the direction from the rear to the front. If there is a higher hierarchy, the order may be changed in the same way.

FIG. 28 is a diagram showing the appearance order of the registers before and after the sorting and the output form. The LtrxSh1ImageEnable is a register that sets whether or not to generate a shape image based on the principle of photometric stereo. The LineInverter is a register that sets whether or not to invert the output signal of the selected terminal. The LineSelecter is a register that selects terminals. LtrxSh1FatureSize is a feature size setting register for a shape image. In the order of appearance of the registers before rearrangement, LineInverter appears before LineSelecter, and the order of appearance is different from the setting order. Therefore, the order of the registers is rearranged so as to be the set order, and then the form is output. As shown as "output form", the output process is looped for the number of selector indexes at the selector.

In the photometric stereo mode, it is necessary to select whether or not to output the image to the setting device 4 on the premise that a certain image is captured first and exists. , It is necessary to keep the setting order between registers. That is, as shown by an arrow in FIG. 30, there is a dependency in the direction from the front to the rear from the register of whether to output to the register of whether to image, and in this example, the context of the register is It is not in the setting order (input order). Therefore, if you try to input the forms output in this order, an error will occur during the input and the setting cannot be completed.

In the present embodiment, the registers can be automatically rearranged by the procedure described above. FIG. 31 shows a state in which the plurality of registers shown in FIG. 30 are rearranged. Since this definition order is the order that should be set by the user (setting order), no error will occur when inputting to the output form.

Therefore, the setting device 4 has a plurality of categories formed by classifying a plurality of setting items having a dependency relationship in which the validity or value of the other setting item changes depending on the setting of one setting item according to the degree of relevance. It is configured to output a form in which each setting item is described according to the setting order based on the dependency between the interval and each setting item. As a result, each setting item is described in the form according to the setting order based on the dependency relationship between a plurality of categories and each setting item, so that the form becomes simple and the setting contents can be changed. It is difficult to restore by mistake.

(Action and effect of the embodiment)
As described above, according to this embodiment, a plurality of captured images can be combined by the imaging device 3 conforming to the standardization standard. Therefore, for example, an inspection image using the principle of photometric stereo or deflation metrics. Can be generated, multispectral imaging, etc. can be performed.

In addition, the image pickup device 3 conforming to the standardization standard can be subjected to multi-step processing in order, and the degree of freedom in selecting the model of the image pickup device 3 can be improved and the accuracy of image inspection can be improved at the same time. it can.

In addition, since the setting parameters for executing the specified processing are dynamically expanded in the internal memory of the image pickup device 3, flexible function expansion is realized for the image pickup device 3 conforming to the standardization standard. , The memory usage of the image pickup apparatus 3 can be suppressed.

Further, since the filter processing can be performed based on the result of the position correction after the position correction of the work W in the captured image is performed, the effect of the filter processing depending on the position and orientation of the work W at the time of imaging can be sufficiently obtained. Obtainable.

In addition, a plurality of setting items having a dependency relationship are classified according to the degree of relevance to form a plurality of categories, and each setting item is set according to a setting order based on the dependency relationship between the plurality of categories and each setting item. The described form can be output. As a result, the form exchanged between the image pickup device 3 and the setting device 4 conforming to the standard can be easily output, the implementation can be facilitated, and the setting contents are not erroneously restored. Can be done.

The above embodiments are merely exemplary in all respects and should not be construed in a limited way. Furthermore, all modifications and modifications that fall within the equivalent scope of the claims are within the scope of the present invention.

As described above, the present invention can be used when inspecting an inspection object such as a work.

1 Image inspection system 2 Lighting device 2a Light emitting unit 2b Lighting control unit 3 Imaging device 4 Setting device 4a UI generation unit 4b Form output unit 5 Display unit 6 Keyboard 7 Mouse 8 External control device 31 Camera 32 Condensing system Optical system 33 Imaging control Unit 40 Image inspection application 50 User interface for setting 200 Lighting device 201-204 1st to 4th light emitting units 205 Lighting control unit W work (inspection object)

Claims (5)

An image pickup device for an image inspection device that captures an image of an inspection object,
A file that is connected to the image pickup device via a network and describes the setting items of the image pickup device and the register information indicating the location where the setting value of each setting item is stored is acquired from the outside and set by the user. An image inspection system including a setting value of each setting item and a setting device for setting the image pickup device by transmitting data indicating register information corresponding to each setting item included in the file to the image pickup device. There,
The setting device is among a plurality of categories formed by classifying a plurality of setting items having a dependency relationship in which the validity or value of the other setting item changes depending on the setting of one setting item according to the degree of relevance. , An image inspection system characterized in that it is configured to output a form in which each setting item is described according to a setting order based on a dependency relationship between each setting item. In the image inspection system according to claim 1,
An image inspection system, wherein the setting order is an order to be set by a user. In the image inspection system according to claim 1 or 2.
The imaging device or the setting device changes the validity or value of the other setting item. The one setting item is described before the other setting item, so that each category and each setting is described. An image inspection system characterized in that it is configured to output a form in which items are rearranged and described. In the image inspection system according to claim 3,
The category and the setting item have a hierarchical dependency relationship.
The image inspection system is characterized in that the image pickup apparatus or the setting apparatus is configured to output a form in which the hierarchical dependencies are rearranged layer by layer and described. In the image inspection system according to claim 4,
The image inspection device or the setting device is configured to rearrange the order of the lowest layer and then rearrange the order of the layers one layer higher than the lowest layer. system.